To facilitate the energy labeling (i.e., continuous distance values), we quantify these values in \(K\)  uniform bins by one-hot encode the distance map into a binary vector representation \(b(p)\)  as [1]}
\( D_q(p)\sum _{k=1}^K r_n b_k(p), \qquad \sum _{k=1}^K b_k(p) = 1,\) 
